Underwater bionic observation and acquisition integrated robot

Abstract

The invention relates to an underwater bionic observation and collection integrated robot which is divided into two parts, namely a child cabin and a mother cabin, the child fish part comprises a fish body assembly, a fish fin assembly, a crab foot assembly and a child fish auxiliary assembly, and the fish body assembly is a main body of the robot and plays a supporting role; the fin assembly is divided into a pectoral fin mechanism and a tail fin mechanism, pectoral fins swing up and down to control the robot to sink and float, meanwhile, the pectoral fins are unfolded to become crab claws, and tail fins swing left and right to control the robot to advance; the crab foot assembly is unfolded and is matched with the crab pincers to realize a function of sampling an underwater sample; the child fish auxiliary assembly comprises a camera, a searchlight and a sonar device which are located at the front end of a fish body, and an infrared sensor at the rear end of the fish body; the mother cabin part comprises a cabin body assembly, a cabin cover assembly and a mother cabin auxiliary assembly, the upper layer of the cabin body assembly is a son fish recovery cabin, and the lower layer is a sample recovery cabin; the cabin cover assembly is arranged above the cabin body, and the cabin cover assembly and the cabin body are connected in an up-down openable mode through the mother cabin auxiliary assembly. According to the invention, underwater charging and underwater observation and acquisition integrated operation of the robot can be realized.

Description

Technical Field

[0001] The invention belongs to the field of underwater bionic robots, and in particular relates to an underwater bionic detection and collection integrated robot. Background Art

[0002] New marine equipment is an important driving force for us to explore, understand and strengthen the ocean, and underwater robots are an important development direction in marine scientific and technological equipment. Underwater robots are robots with functions such as remote operation, underwater exploration, and underwater sampling. They have good maneuverability and operability and can transmit underwater images and data in real time.

[0003] Traditional spiral robots are driven by propellers and can complete underwater operations with cameras and mechanical arms. They have high technical maturity and good scalability, but they also have defects such as high noise, low propulsion efficiency, and poor concealment. For example, Publication No. CN220483533U (Underwater Detection Robot).

[0004] The bionic fish robot has a streamlined shape and can realize underwater detection functions with cameras and underwater sonars. It has low noise, good concealment, and high driving efficiency, but it also has defects such as short battery life and inability to complete underwater sample collection. For example, publication number CN117048810A (hybrid drive bionic robot fish).

[0005] In this context, it is particularly important to increase the functions and extend the operation time of underwater robots on the basis of their streamlined appearance in order to broaden their operating width and breadth. Summary of the invention

[0006] In view of the above technical problems, the present invention proposes an underwater bionic detection and collection integrated robot which can be matched with a recovery and charging mother cabin device and has the dual forms of fish and crab.

[0007] The above-mentioned object of the present invention is achieved by the following technical solutions:

[0008] An underwater bionic detection and collection integrated robot, comprising a fry part and a mother cabin part; the fry part comprises a fish body component, a fish fin component, a crab leg component and a fry auxiliary component; the mother cabin part comprises a cabin body component, a hatch component and a mother cabin auxiliary component;

[0009] The fish body assembly comprises a fish body, a chamber is arranged at the upper part of the fish body near the front end, the chamber is composed of a sample temporary storage chamber at the front end and an air chamber at the rear end, and a chamber cover which can be flipped forward around the lower end is arranged at the front end of the sample temporary storage chamber to open; a camera, a searchlight and a sonar device are arranged at the front end of the fish body, and a camera and an infrared sensor are arranged at the rear end of the fish body;

[0010] The fish fin assembly comprises a pectoral fin mechanism and a caudal fin mechanism, wherein the pectoral fin mechanism is composed of two groups of pectoral fin assemblies, the two groups of pectoral fin assemblies are respectively connected to the front two sides of the fish body through the front rotating platform, and the two groups of pectoral fin assemblies adopt a three-section extendable folding arm structure, wherein the end piece of one group of pectoral fin assemblies is a mechanical drill bit, and the end piece of the other group of pectoral fin assemblies is a mechanical claw; when the two groups of pectoral fin assemblies are in a folded state, the sub-fish part is in a fish shape; when the pectoral fin mechanism is in an unfolded state, the sub-fish part is in a crab shape; the caudal fin mechanism is connected to the tail of the fish body;

[0011] The crab leg assembly is arranged on both sides of the middle part of the fish body, and each group of crab leg assemblies is connected to the fish body through respective rear rotating parts. The crab leg assembly adopts a two-stage extendable folding arm structure; when the fish form is detected, the crab leg assembly is folded and embedded in the receiving groove arranged on the side wall of the fish body, so that the fish body as a whole maintains a streamlined shape; when the crab form is sampled, the crab leg assembly is unfolded and deformed into a crab leg;

[0012] The fry auxiliary assembly includes an auxiliary driving device for the fry part in the approaching and returning stages and a mechanism for adjusting the volume of the sample temporary storage chamber and the air chamber;

[0013] The cabin assembly is divided into two layers, the upper layer is a smolt recovery cabin, which includes a plurality of isolated smolt recovery and accommodation areas; the lower layer is a storage recovery cabin, which is used for collecting and storing samples; and an unloading passage vertically penetrating the smolt recovery cabin and the storage recovery cabin is provided in front of each smolt recovery and accommodation area;

[0014] The hatch cover assembly is arranged above the cabin body, and the two are connected in an upward and downward manner through a mother cabin auxiliary assembly.

[0015] Moreover, the fish body is a streamlined shape imitating that of a sea bream, a triangular column-type chamber is adopted on the upper part of the fish body, an elliptical groove and two circular grooves on both sides of the elliptical groove are formed at the front end of the fish body, a sonar device is installed at the center position of the elliptical groove, a front camera is installed on the periphery, and searchlights are installed in the two circular grooves; an elliptical groove is formed at the rear end of the fish body, a rear camera and an infrared sensor are installed in the elliptical groove; three layers of circular grooves are formed at the dorsal fin at the rear end of the fish body, which are used to install the auxiliary driving turbine of the sub-fish constituting the auxiliary driving device; buffer blocks are formed on both sides of the bottom of the fish body, a limit groove is vertically formed in the middle of the buffer block, a circular wireless charging groove is arranged in the center of the bottom, a battery and a driving motor are installed inside the fish body, and the driving motor is drivingly connected to the auxiliary driving turbine.

[0016] Moreover, one group of pectoral fin components consists of a mechanical drill bit, a front rotating part, a large pectoral fin segment, a small pectoral fin segment and a front rotating platform, and the other group of pectoral fin components consists of a mechanical claw, a front rotating part, a large pectoral fin segment, a small pectoral fin segment and a front rotating platform; the mechanical drill bit and the mechanical claw are respectively connected to one end of the corresponding small pectoral fin segment through their respective front rotating parts, the other section of the small pectoral fin segment is embedded with one end of the corresponding large pectoral fin segment in a groove manner and is rotatably connected through a pin, and the other end of the large pectoral fin segment is connected to the fish body through the front rotating platform; a driving mechanism is provided at the connection between the small pectoral fin segment and the mechanical drill bit or the mechanical claw, the connection between the small pectoral fin segment and the large pectoral fin segment, and the connection between the large pectoral fin segment and the front rotating platform; the tail fin mechanism consists of a tail fin and a rear rotating platform; the front end of the tail fin is relatively rotatably connected to the rear rotating platform through a pin, the rear rotating platform is connected to the tail of the fish body, and a circular hole is formed at the connection of the tail fin and is embedded in the rotating platform to achieve 240° longitudinal swing.

[0017] Moreover, three pairs of crab leg assemblies are symmetrically arranged on both sides of the fish body, and each group of crab leg assemblies includes crab legs, which are composed of a large crab leg section, a small crab leg section and a rear rotating member; the large crab leg sections of the front pair and the rear pair of crab leg assemblies are in an "L"-shaped structure, and the large crab leg sections of the middle pair of crab leg assemblies are in an inverted "T"-shaped structure; the upper end of the large crab leg section and the outer end of the small crab leg section are relatively rotatably connected through components such as a pin shaft, and the interior of the large crab leg section is hollowed out to accommodate the small crab leg section when folded, and the inner end of the small crab leg section is relatively rotatably connected to the rear rotating member through a pin shaft, and the rear rotating member is connected to the fish body, and a driving mechanism is provided at the connection between the large crab leg section and the small crab leg section and at the connection between the small crab leg section and the rear rotating member; the rotation angle of the rear rotating member is 50°, so that the robot can realize forward, backward, left and right movement; an inverted L-shaped accommodating groove is provided on the outer wall of the fish body corresponding to the position where the crab leg assembly is installed, which is used to realize the embedding of the crab leg assembly when it is in a folded state.

[0018] Moreover, the mechanism for adjusting the volume of the sample storage chamber and the air chamber includes a baffle, an electric telescopic rod and a connecting rod; the front end of the electric telescopic rod is fixedly connected to the baffle, and the rear end is connected to the fish body, forming a closed air chamber behind the baffle on the upper part of the fish body, and a sample storage chamber is formed between the front of the baffle and the rear of the chamber cover; the electric telescopic rod is moved horizontally forward and backward to drive the baffle to move and adjust the air pressure in the air chamber, thereby realizing the control of the buoyancy of the fish fry.

[0019] Moreover, the cabin assembly includes a cabin, an elliptical groove and two circular grooves on both sides of the cabin are formed at the front end, a camera is installed in the elliptical groove, and a searchlight is installed in the two circular grooves; a recessed platform is arranged at the rear end of the cabin, and a mother cabin auxiliary drive turbine is connected to the recessed platform through a connecting rod; the upper layer of the cabin is divided into four fish part recovery and accommodation areas by vertical partitions, and the cross-section of the partitions is a cable drum; each area is provided with a half-moon partition on both sides of the unloading passage, and two left and right positioning grooves are formed in the middle of each area, and the two positioning grooves match the two buffer blocks at the bottom of the fish body; A limiting push plate groove is arranged in the middle, and a limiting push plate movable along the front and rear direction is embedded in the limiting push plate groove, which is used for pushing the fish body forward into a suitable position for limiting; a locking limiting plate that can be extended inward is arranged on the side of the positioning groove, and the locking limiting plate is inserted and matched with the limiting groove in the middle of the buffer block on the fish body to realize the limited fixation of the fry part in the cabin; a wireless charging port is arranged in front of the limiting push plate groove, which is used to cooperate with the wireless charging groove at the bottom of the fry part; a drainage groove which horizontally runs through the fry recovery cabin is arranged behind the limiting push plate groove to realize the connection between the upper and lower layers of the cabin.

[0020] Moreover, the hatch cover assembly consists of a hatch cover, a signal transmitter, a positioning device, and a dehooker; the signal transmitter is installed at the front end of the hatch cover; a circular groove is provided at the center of the top of the hatch cover, and the dehooker is installed in the circular groove; the positioner is installed on the top of the hatch cover and is located directly behind the dehooker; two front and rear outrigger arms are provided on both sides of the hatch cover.

[0021] Furthermore, the mother cabin auxiliary assembly includes a buoyancy mechanism and an opening and closing connection mechanism for connecting the cabin body and the cabin cover;

[0022] The buoyancy mechanism is connected to the hatch cover and includes two buoyancy airbags and four connecting rods; the two buoyancy airbags are respectively arranged outside the left and right sides of the hatch cover, one end of the four connecting rods is respectively connected to the outer ends of the four outrigger arms of the hatch cover so as to be relatively rotatable, and a driving mechanism is arranged at the connection position, and the outer ends of the two connecting rods on the left side and the outer ends of the two connecting rods on the right side are respectively fixedly connected to the two buoyancy airbags;

[0023] The camshaft is an angular movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement

[0024] Furthermore, a winch is installed in the cable drum, and a signal transmission cable and an energy transmission cable are wound around the winch.

[0025] The present invention has the following advantages and positive effects:

[0026] 1. The mother cabin part of the present invention is equipped with a signal transfer device, a fry recovery cabin and a storage recovery cabin: the signal transfer device can shorten the distance of signal transmission underwater and reduce signal loss; the power supply and wireless charging device of the fry recovery cabin can charge and replenish the fry and extend the underwater operation time of the fry; the storage recovery cabin can centrally recover samples taken in multiple batches to improve the recovery efficiency.

[0027] 2. The fin assembly and crab leg assembly of the neutron fish part of the present invention can be extended and coordinated through auxiliary components, so as to realize the free switching of the dual forms of the underwater robot fish and crab, thereby realizing the integrated operation of underwater exploration. The bionic appearance has good concealment and strong environmental adaptability.

[0028] 3. In the present invention, one mother cabin can be equipped with up to four fry for underwater operations. Cameras, searchlights, sonars and sensors are used as carriers between the fry and between the fry and the mother cabin. Information sharing and coordinated cluster operations can be achieved through signal transmitters. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a three-dimensional diagram of the fish form of a part of a fry of the present invention;

[0030] Figure 2 It is a three-dimensional diagram of the crab form of the fish fry part of the present invention;

[0031] Figure 3This is a schematic diagram of a temporary storage chamber for fish fry samples of the present invention;

[0032] Figure 4 It is a schematic diagram of the interior of the air chamber of the fry part of the present invention;

[0033] Figure 5 It is a schematic diagram of the wireless charging port of the sub-fish part of the present invention;

[0034] Figure 6 It is a schematic diagram of the auxiliary driving assembly of the fish fry of the present invention;

[0035] Figure 7 It is a three-dimensional diagram of the floating posture of the mother cabin part of the present invention;

[0036] Figure 8 It is a three-dimensional diagram of the recovery posture of the mother cabin part of the present invention;

[0037] Fig. 9 It is a schematic diagram of the opening and closing driving mechanism of the mother cabin part connecting the cabin body and the cabin cover of the present invention;

[0038] Fig.10 It is a schematic diagram of a hatch cover of a mother cabin of the present invention;

[0039] Fig.11 It is a schematic diagram of the cable winch of the mother cabin part of the present invention;

[0040] Fig.12 It is a schematic diagram of the structure of the fish fry after the fish fry part of the present invention returns to the cabin. DETAILED DESCRIPTION

[0041] The structure of the present invention is further described below with reference to the accompanying drawings and by way of examples. It should be noted that the present examples are descriptive rather than restrictive.

[0042] An underwater bionic detection and collection robot, see Figure 1-Figure 12 , is divided into a fry part and a mother cabin part, wherein the fry part mainly includes a fish body assembly, a fin assembly, a crab leg assembly and an auxiliary assembly, and the mother cabin part mainly includes a cabin body assembly, a hatch cover assembly and an auxiliary assembly.

[0043] 1. Fish body components

[0044] The fish body component is the main body of the underwater robot sub-fish part, such as Figure 1 , Figure 2 , Figure 5 , Figure 6As shown, the fish body assembly 1 is composed of a fish body 1.1, a sonar 1.2, a front camera 1.3, a searchlight 1.4, a buffer block 1.5, a wireless charging port 1.6, a rear camera 1.7, and an infrared sensor 1.8. The fish body 1.1 is used to support other components and install the other components together to form a matching connection. The sonar 1.2, the front camera 1.3 and the searchlight 1.4 are installed at the front end of the fish body, where the sonar is surrounded by the camera, and the searchlight is located on the left and right sides of the camera. They cooperate with each other to achieve perception and observation of the underwater environment. The buffer block 1.5 is located on the left and right sides of the bottom of the fish body to avoid collisions when the fry lands on the seabed and the mother cabin is recovered. The wireless charging port 1.6 is located in the center of the bottom of the fish body, and the endurance of the fry is increased by underwater wireless charging, thereby widening its working breadth and width. The rear camera 1.7 and the infrared sensor 1.8 are installed at the rear end of the fish body, where the infrared sensor is located above the rear camera, which can achieve wide-area detection.

[0045] 2. Fin assembly

[0046] The fin assembly is an important motion control component of the underwater robot sub-fish. Figure 1 , Figure 2 , Figure 5 , Figure 6 As shown, the fin assembly 2 is composed of a pectoral fin mechanism 2.2 and a caudal fin mechanism 2.1. The pectoral fin mechanism is composed of two groups of pectoral fin assemblies arranged on the left and right, one group of pectoral fin assemblies is composed of a mechanical drill 2.2.1, a front rotating member 2.2.3, a large pectoral fin segment 2.2.4, a small pectoral fin segment 2.2.5 and a front rotating platform 2.2.6, and the other group of pectoral fin assemblies is composed of a mechanical claw 2.2.2, a front rotating member 2.2.3, a large pectoral fin segment 2.2.4, a small pectoral fin segment 2.2.5 and a front rotating platform 2.2.6. The caudal fin mechanism is composed of a caudal fin 2.1.1 and a rear rotating platform 2.1.2. The mechanical drill bit 2.2.1 and the mechanical claw 2.2.2 are connected to one end of the corresponding pectoral fin segment 2.2.5 through their respective front rotating parts 2.2.3, and the other end of the pectoral fin segment is connected to one end of the corresponding pectoral fin segment 2.2.4 by grooves and rotationally connected through a pin, and the other end of the pectoral fin segment is connected to the fish body through a front rotating platform 2.2.6. A driving mechanism is provided at the connection between the pectoral fin segment and the mechanical drill bit or the mechanical claw, the connection between the pectoral fin segment and the pectoral fin segment, and the connection between the pectoral fin segment and the front rotating platform, and the driving mechanism adopts a gear transmission mechanism driven by a motor.

[0047] When the fry is in the fish form, the pectoral fin mechanism is in a folded state, and the angle between the pectoral fin and the fish body is adjusted to change the water flow impact angle, so as to control the underwater movement direction. When the fry is in the crab form, the pectoral fin mechanism unfolds and reconstructs into a crab claw to realize the underwater sampling function. The front end of the tail fin 2.1.1 is relatively rotatably connected to the rear rotating platform through a pin shaft, and is connected to a driving mechanism. The driving mechanism can adopt a gear transmission mechanism driven by a motor. The rear rotating platform 2.1.2 is connected to the tail of the fish body. A circular hole is made at the connection of the tail fin and is embedded in the rotating platform, which can realize a 240° longitudinal swing.

[0048] 3. Crab foot component

[0049] The crab foot component is an important motion control component of the underwater robot sub-fish. Figure 1 , Figure 2 As shown, three pairs of crab leg assemblies are symmetrically arranged on both sides of the fish body, and each group of crab leg assemblies 3 includes crab legs 3.1, which are composed of crab leg large sections 3.1.1, crab leg small sections 3.1.2 and rear rotating parts 3.1.3. The large sections of the front pair of crab leg assemblies and the rear pair of crab leg assemblies are in an "L" shape, and the large sections of the middle pair of crab leg assemblies are in an inverted "T" shape. The upper end of the large crab leg section and the outer end of the small crab leg section are relatively rotatably connected through components such as pins, and the interior of the large crab leg section 3.1.1 is hollowed out to accommodate part of the small crab leg section 3.1.2 when folded. The inner end of the small crab leg section is relatively rotatably connected to the rear rotating part through a pin, and the rear rotating part 3.1.3 is connected to the fish body. Driving mechanisms are provided at the connection between the large crab leg section and the small crab leg section and at the connection between the small crab leg section and the rear rotating part. The driving mechanism can adopt a gear transmission mechanism driven by a motor. The rotation angle of the rear rotating part can reach 50°, so that the robot can move forward, backward, left and right.

[0050] An inverted L-shaped accommodating groove is provided on the outer wall of the fish body corresponding to the position where the crab leg assembly is installed, so as to realize the embedding of the crab leg assembly when it is in a folded state, and to provide avoidance space for the crab leg assembly to swing back and forth in an unfolded state.

[0051] 4.Ziyu auxiliary components

[0052] The sub-fish auxiliary components are components that assist other sub-fish components in controlling, adjusting, driving, fixing, connecting and working, such as Figure 1 , Figure 3 , Figure 4 , Figure 6As shown, the auxiliary component 4 mainly includes a chamber cover 4.1, a baffle 4.2, an electric telescopic rod 4.3, an auxiliary turbine housing 4.4 and an auxiliary turbine fan 4.5. The chamber cover 4.1 is located in front of the fry, and the lower part of the chamber cover is hingedly connected to the fish body. When the chamber cover is opened, it is laid forward and flat. The left and right partitions on both sides of the chamber cover limit the sample. The curved slide can serve as an unloading plate for the sample. When closed, the streamlined shape of the fry is guaranteed. It forms a sample temporary storage room with the baffle 4.2. The chamber is connected to the underwater environment, and the water pressure is kept consistent for temporary storage of samples. The front end of the electric telescopic rod 4.3 is fixedly connected to the baffle, and the rear end is connected to the fish body, forming a closed air chamber on the upper part of the fish body. The front and rear horizontal movement of the electric telescopic rod drives the baffle to move and adjust the air pressure in the air chamber, thereby controlling the buoyancy of the fry. The auxiliary turbine casing 4.4 is fixed to the rear of the sub-fish by screws and is coaxially connected to the auxiliary turbine turbofan 4.5, serving as an auxiliary drive device for the sub-fish during the approach and return phases.

[0053] 5. Cabin components

[0054] The cabin assembly is the main body of the underwater robot mother cabin. Figure 7 , Figure 8 , Fig. 9 As shown, the cabin assembly 5 is composed of a cabin 5.1, a camera 5.2, a searchlight 5.3, a wireless charging port 5.4, a slider slot 5.5, and a cable drum 5.6. The cabin 5.1 is the main body of the mother cabin part, and is used for the centralized installation, coordination and recovery of other components. The cabin is divided into two layers, the upper layer is the fry recovery cabin, which is divided into four areas by a vertical partition and a horizontal partition, and each area constitutes a fry partial recovery and accommodation area. The cross section of the partition is a cable drum 5.6. A slider groove 5.5 is set on the outside of each area near the cabin shell. An unloading channel that vertically passes through the sub-fish recovery cabin and the storage recovery cabin is set in front of the area. Half-moon baffles are set on the left and right sides of the unloading channel. Two positioning grooves are symmetrically set in the middle part. A limit push plate groove is set in the center of the positioning groove. A wireless charging port 5.4 is set in front of the limit push plate groove. Behind the positioning groove, a drainage groove that runs horizontally through the sub-fish recovery cabin is closely connected. The drainage groove is lower than the other grooves and is connected to the slider groove, positioning groove, and limit push plate groove through a hole to ensure smooth drainage. The lower layer is a storage recovery cabin, which is used for collecting and storing samples. After the sub-fish is located and recovered in the sub-fish recovery cabin, the compartment cover is opened, and the telescopic movement of the telescopic rod drives the baffle to move horizontally outward. The samples in the temporary compartment are withdrawn outward by the baffle. After a short slide of the curve of the compartment cover, they fall into the storage recovery cabin through the unloading channel for centralized collection and recovery. A set of vertically moving hatches are set on the left and right sides of the storage recovery cabin.

[0055] An elliptical groove is provided in the center of the front end of the cabin for installing the camera 5.2, and two circular grooves are symmetrically provided on the left and right sides of the elliptical groove for installing a pair of searchlights. The cabin always floats on the water surface for release and recovery operations. The camera and searchlight work together to help operators understand the environment around the mother cabin and physically locate the mother cabin when the vision is poor (such as foggy and dark environments).

[0056] 6. Hatch cover assembly

[0057] The hatch assembly is an important signal transmission and processing component of the underwater robot mother cabin. Figure 7 , Fig.10 As shown, the hatch cover assembly 6 is composed of a hatch cover 6.1, a signal transmitter 6.2, a positioning device 6.3, and a dehooker 6.4. A pair of slider grooves corresponding to the position of the fry recovery cabin are respectively arranged on the left and right sides of the bottom of the hatch cover 6.1, and a group of cross support frames on the left and right sides are connected by sliders to realize the opening and closing of the fry recovery cabin. A signal transmitter 6.2 is arranged at the front end of the hatch cover, and the operator's remote command is first transmitted to the hatch cover of the mother cabin, and the hatch cover receives and processes the signal and then transmits it to the fry part working underwater. The "broken line" transmission path can shorten the propagation distance of the signal underwater and reduce the interference of the signal in the underwater environment. A circular groove is arranged at the center of the top of the hatch cover, and a dehooker 6.4 is installed at the circular groove. The operator hooks the rope with the dehooker, and drops the mother cabin part to the designated water surface position by dropping the rope to the water surface. After the mother cabin surface work is completed, the operator recycles the mother cabin through the rope, thereby completing the release and recovery of the mother cabin. A positioning device 6.3 is installed directly behind the unhooker, which can display the surrounding water surface environment and position positioning information of the mother cabin in real time on the operator's console interface.

[0058] 7. Mother cabin auxiliary components

[0059] The mother cabin auxiliary components are components that assist other components of the mother cabin in controlling, adjusting, driving, fixing, connecting and working, such as Figure 7 , Figure 8 , Fig. 9 , Fig.11As shown, the auxiliary component 7 mainly includes a buoyancy airbag 7.1, a connecting rod 7.2, a driving turbine 7.3, a slider 7.4, a cross support frame 7.5, a connecting pin 7.6, a limit push plate 7.7, a recovery hatch 7.8, and a winch 7.9. The front and rear parts of the buoyancy airbag 7.1 are each connected to a connecting rod 7.2, and the two buoyancy airbags are arranged on the left and right sides of the hatch cover. The existence of the buoyancy airbag keeps the draft of the mother cabin in the water consistent, and the up and down swinging of the connecting rod can achieve the entry and exit of the mother cabin. The connecting rod swings downward to a horizontal position. After entering the water, the slider 7.4 moves horizontally in the slider groove in the hatch cover and the cabin body under the drive of the spiral rod (the spiral rod is connected to the slider by a thread, and the spiral rod is connected to the spiral rod driving motor), driving the cross support frame 7.5 to move up and down, and the connecting pin 7.6 keeps the relative position of the cross support frame consistent, realizing the separation of the hatch cover and the cabin body, thereby completing the release or recovery of the fry. When the slider moves in the opposite direction, the cross support frame also starts to move in the opposite direction, driving the hatch cover and the cabin body to close, and the connecting rod swings upward to a vertical position, and the mother cabin is out of the water. The drive turbine 7.3 is installed behind the storage and recovery compartment of the cabin body. Whether the mother cabin is out of the water or in the water, the drive turbine is guaranteed not to be above the water surface, so that the mother cabin has full underwater mobility.

[0060] The limit push plate 7.7 is installed in the limit slot. When the fry's return stage is over, the fry's buffer block falls into the positioning slot, and the rear limit push plate starts to move forward, pushing the fry forward and getting stuck in the horizontal direction of the positioning slot. At this time, the limit push plate in the front pops out from the inside of the positioning slot, passes through the buffer block and locks with the other end, thereby realizing the spatial positioning of the fry. The recovery hatch 7.8 is installed on the left and right sides of the storage recovery cabin. It is a vertical movement mode. When the hatch is closed, the sample can be kept in an underwater environment. When the hatch is opened, it can help the operator to recover the mother cabin and conveniently take out the sample in the storage recovery cabin. The winch 7.9 is located in the cable drum. When the hatch cover and the cabin body are separated and closed, the signal transmission cable and the energy transmission cable can be wound through the winch, which can save internal space while maintaining a closed environment, thereby improving the safety and stability of the underwater robot.

[0061] Working principle of this underwater bionic detection and collection robot:

[0062] This underwater bionic detection and collection robot is divided into two parts: the fry and the mother cabin. Its work content is mainly divided into the following stages:

[0063] 1. Mother cabin release phase:

[0064] After checking all components of the underwater bionic detection and collection robot and debugging all functions to ensure that they are correct, the operator puts the four fry into the mother cabin and locks them with a limit push plate, uses a rope to connect the unhooker of the mother cabin hatch cover, and drops the rope to the water surface to lift the mother cabin to the designated water surface position. If the mother cabin is a certain distance away from the designated water surface position, the drive turbine of the mother cabin is started to drive the mother cabin into the designated water surface position.

[0065] 2. Fish fry release stage:

[0066] After the mother cabin reaches the designated position, the four connecting rods swing downward to a horizontal position, and the mother cabin body is put into the water. After entering the water, the slider moves horizontally in the slider groove in the hatch cover and the cabin body, driving the cross support frame to move up and down. The connecting pin keeps the relative position of the telescopic rod consistent, realizing the separation of the hatch cover and the cabin body. The limit push plate is unlocked, and after the hatch cover and the cabin body are separated, the fry can float in the water due to the presence of the fry air chamber. The fry starts the auxiliary drive turbine, detaches from the mother cabin, and completes the fry release. Then the slider and the cross support frame move in the opposite direction, and the hatch cover and the cabin body of the mother cabin are closed.

[0067] 3. The stage of fry approaching:

[0068] After the fry leave the mother cabin, due to the lower requirements for concealment and noise of the fry in the approaching stage, but the higher requirements for the maneuverability of the fry, in order to quickly reach the area to be operated for exploration and sampling operations, the auxiliary drive turbine keeps working to drive the fry to move quickly. At the same time, the fry adjusts the angle between the pectoral fin and the water flow to change the water flow impact angle to achieve control of the fry's forward direction.

[0069] 4. Fish spawning stage:

[0070] After the fry arrives at the area to be operated, due to the high requirements for the concealment and noise of the fry during the operation stage, the auxiliary drive turbine stops working, and the pectoral fin and tail fin are used to drive the fry to maintain the fish form to explore and map underwater organisms and the environment, and send the information to the mother cabin, which then transmits the information back to the operator's console. When the fry finds the sample to be collected, the fry assembly is deconstructed and reassembled into a crab form. The movement of the air chamber telescopic rod drives the baffle backward, and the displacement is controlled by adjusting the position of the baffle to achieve the fry's dive. The fry that reaches the bottom of the water uses the crab feet to move underwater, and uses the crab claws to take samples and put them into the temporary chamber of the fry to store the samples. The four fry can operate in different operating areas, or they can work together in the same area. When the fry encounters obstacles such as rock jams and water grass entanglement underwater, the remaining fry can use the crab claws to cooperate with the distressed fry to escape, increasing the overall passability. After the operation is completed, the fry returns to its fish shape, and the telescopic rod of the air chamber moves in the opposite direction, driving the baffle to move forward, thereby controlling the amount of water entering and allowing the fry to float.

[0071] 5. The stage of the fry returning home:

[0072] After the operation is completed, the auxiliary drive turbine is restarted because the requirements for the fry in the return stage are the same as those in the approach stage, and the fry controls the fry's forward direction through the fin assembly. The mother cabin sends positioning information to the fry, and the fry returns to the mother cabin.

[0073] 6. Fish spawn recovery stage:

[0074] The fry first moves to the rear of the mother cabin, and the slider drives the cross support frame to move, driving the hatch cover to separate from the cabin, and the fry moves forward for a distance to reach the top of the fry recovery cabin. The slider moves in the opposite direction, and the cross support frame also starts to move in the opposite direction, thereby driving the hatch cover and the cabin to close. The limit push plate pushes the fry to the appropriate position and locks it, and the connecting rod swings upward to a vertical position, and the mother cabin is out of the water.

[0075] 7. Fish charging stage / mother cabin recovery stage:

[0076] After the mother cabin is out of water, the fry recovery cabin floats to the surface, and the remaining water is discharged to the outside and the storage recovery cabin through the drainage trough, the drainage holes on both sides, and the unloading channel. The compartment cover of the fry is opened and laid forward to form an unloading plate. The partitions on both sides limit the samples. The telescopic rod drives the baffle to move forward. The samples in the temporary compartment are pushed out and fall into the storage recovery cabin through the unloading channel in front of the fry recovery cabin. After the wireless charging port of the fry is aligned with the wireless charging port of the fry recovery cabin, the fry begins to be wirelessly charged, and the fry release stage begins after the battery is fully charged.

[0077] When the operation is completed and all four fry are successfully recovered in the fry recovery chamber, the connecting rod swings upward to a vertical position, and the mother chamber is out of the water. The driving turbine drives the mother chamber back to the water surface, and the operator lifts the rope connected to the mother chamber hatch cover unhooking device, lifts the mother chamber and recovers it.

[0078] Although the embodiments and drawings of the present invention are disclosed for illustrative purposes, those skilled in the art will appreciate that various substitutions, changes and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. An underwater bionic detection and collection integrated robot, characterized in that: It includes a fry part and a mother cabin part; the fry part includes a fish body component, a fish fin component, a crab leg component, and a fry auxiliary component; the mother cabin part includes a cabin body component, a hatch component, and a mother cabin auxiliary component; The fish body assembly comprises a fish body, a chamber is arranged at the upper part of the fish body near the front end, the chamber is composed of a sample temporary storage chamber at the front end and an air chamber at the rear end, and the front end of the sample temporary storage chamber is provided with a chamber cover that can be flipped forward around the lower end to open; a camera, a searchlight and a sonar device are arranged at the front end of the fish body, and a camera and an infrared sensor are arranged at the rear end of the fish body; The fish fin assembly comprises a pectoral fin mechanism and a caudal fin mechanism, wherein the pectoral fin mechanism is composed of two groups of pectoral fin assemblies, the two groups of pectoral fin assemblies are respectively connected to the positions on both sides of the front part of the fish body through the front rotating platform, and the two groups of pectoral fin assemblies both adopt a three-section extendable folding arm structure, wherein the end piece of one group of pectoral fin assemblies is a mechanical drill bit, and the end piece of the other group of pectoral fin assemblies is a mechanical claw; when the two groups of pectoral fin assemblies are in a folded state, the sub-fish part is in a fish shape; when the two groups of pectoral fin assemblies are in an unfolded state, the sub-fish part is in a crab shape; the caudal fin mechanism is connected to the tail of the fish body; The crab leg assembly is arranged on both sides of the middle part of the fish body, and each group of crab leg assemblies is connected to the fish body through respective rear rotating platforms, and the crab leg assembly adopts a two-stage extendable folding arm structure; when the fish form is detected, the crab leg assembly is folded and embedded in the receiving groove arranged on the side wall of the fish body, so that the fish body as a whole maintains a streamlined shape; when the crab form is sampled, the crab leg assembly is unfolded and transformed into a crab leg; The fry auxiliary assembly includes an auxiliary driving device for the fry part in the approaching and returning stages and a mechanism for adjusting the volume of the sample temporary storage chamber and the air chamber; The cabin assembly is divided into two layers, the upper layer is a smolt recovery cabin, which includes a plurality of isolated smolt recovery and accommodation areas; the lower layer is a storage recovery cabin, which is used for collecting and storing samples; and an unloading passage vertically penetrating the smolt recovery cabin and the storage recovery cabin is provided in front of each smolt recovery and accommodation area; The hatch cover assembly is arranged above the cabin body, and the two are connected in an upward and downward manner through a mother cabin auxiliary assembly.

2. The underwater bionic detection and collection integrated robot according to claim 1, characterized in that: The fish body is a streamlined shape imitating that of a sea bream, and a triangular column-type chamber is adopted on the upper part of the fish body. An elliptical groove and two circular grooves on both sides of the elliptical groove are formed at the front end of the fish body, a sonar device is installed at the center position of the elliptical groove, a front camera is installed on the periphery, and searchlights are installed in the two circular grooves; an elliptical groove is formed at the rear end of the fish body, and a rear camera and an infrared sensor are installed in the elliptical groove; three layers of circular grooves are formed at the dorsal fin at the rear end of the fish body, which are used to install the auxiliary driving turbine of the sub-fish constituting the auxiliary driving device; buffer blocks are formed on both sides of the bottom of the fish body, a limiting groove is vertically formed in the middle of the buffer block, and a circular wireless charging groove is arranged in the center of the bottom; a battery and a driving motor are installed inside the fish body, and the driving motor is drivingly connected to the auxiliary driving turbine.

3. The underwater bionic detection and collection integrated robot according to claim 1, characterized in that: A group of pectoral fin components consists of a mechanical drill, a front rotating part, a large pectoral fin segment, a small pectoral fin segment and a front rotating platform, and another group of pectoral fin components consists of a mechanical claw, a front rotating part, a large pectoral fin segment, a small pectoral fin segment and a front rotating platform; the mechanical drill and the mechanical claw are respectively connected to one end of the corresponding small pectoral fin segment through their respective front rotating parts, the other end of the small pectoral fin segment is embedded with one end of the corresponding large pectoral fin segment in a groove manner and is rotatably connected through a pin shaft, and the other end of the large pectoral fin segment is connected to the fish body through the front rotating platform; a driving mechanism is provided at the connection between the small pectoral fin segment and the mechanical drill or the mechanical claw, the connection between the small pectoral fin segment and the large pectoral fin segment, and the connection between the large pectoral fin segment and the front rotating platform; the tail fin mechanism consists of a tail fin and a rear rotating platform; the front end of the tail fin is relatively rotatably connected to the rear rotating platform through a pin shaft, the rear rotating platform is connected to the tail of the fish body, and a circular hole is formed at the connection of the tail fin and is embedded in the rotating platform to achieve 240° longitudinal swing.

4. The underwater bionic detection and collection integrated robot according to claim 1, characterized in that: Three pairs of crab leg assemblies are symmetrically arranged on both sides of the fish body, and each group of crab leg assemblies includes crab legs, which are composed of a large crab leg section, a small crab leg section and a rear rotating member; the large crab leg sections of the front pair and the rear pair of crab leg assemblies are in an "L"-shaped structure, and the large crab leg sections of the middle pair of crab leg assemblies are in an inverted "T"-shaped structure; the upper end of the large crab leg section and the outer end of the small crab leg section are relatively rotatably connected through components such as a pin shaft, and the interior of the large crab leg section is hollowed out to accommodate the small crab leg section when folded, and the inner end of the small crab leg section is relatively rotatably connected to the rear rotating member through a pin shaft, and the rear rotating member is connected to the fish body, and a driving mechanism is provided at the connection between the large crab leg section and the small crab leg section and at the connection between the small crab leg section and the rear rotating member; the rotation angle of the rear rotating member is 50°, so that the robot can realize forward, backward, left and right movement; an inverted L-shaped accommodating groove is provided on the outer side wall of the fish body corresponding to the position where the crab leg assembly is installed, which is used to realize the embedding of the crab leg assembly when it is in a folded state.

5. The underwater bionic detection and collection integrated robot according to claim 1, characterized in that: The mechanism for adjusting the volume of the sample temporary storage chamber and the air chamber comprises a baffle, an electric telescopic rod and a connecting rod; the front end of the electric telescopic rod is fixedly connected to the baffle, and the rear end is connected to the fish body, so that a closed air chamber is formed behind the baffle on the upper part of the fish body, and the sample temporary storage chamber is formed between the front of the baffle and the rear of the chamber cover; the baffle is driven to move and adjust the air pressure in the air chamber by the front-back horizontal movement of the electric telescopic rod, so as to control the buoyancy of the fish fry.

6. The underwater bionic detection and collection integrated robot according to claim 1, characterized in that: The cabin assembly comprises a cabin, wherein an elliptical groove and two circular grooves on both sides are formed at the front end of the cabin, a camera is installed in the elliptical groove, and searchlights are installed in the two circular grooves; a recessed platform is arranged at the rear end of the cabin, and a mother cabin auxiliary driving turbine is connected to the recessed platform through a connecting rod; the upper layer of the cabin is divided into four fish part recovery and accommodation areas by vertical partitions, and the cross-section of the partitions is a cable drum; each area is provided with a half-moon partition on both sides of the unloading passage, and two left and right positioning grooves are formed in the middle of each area, and the two positioning grooves match the two buffer blocks at the bottom of the fish body; between the left and right positioning grooves A limit push plate groove is provided, in which a limit push plate movable along the front and rear direction is embedded, which is used for pushing the fish body forward into a suitable position for limiting; a locking limit plate which can be extended inward is provided on the side of the positioning groove, and the locking limit plate is inserted and matched with the limit groove in the middle of the buffer block on the fish body to realize the limited fixation of the fry part in the cabin; a wireless charging port is provided in front of the limit push plate groove, which is used to cooperate with the wireless charging slot at the bottom of the fry part; a drainage groove which horizontally runs through the fry recovery cabin is provided behind the limit push plate groove to realize the connection between the upper and lower layers of the cabin.

7. The underwater bionic detection and collection integrated robot according to claim 1, characterized in that: A winch is installed in the cable drum, and a signal transmission cable and an energy transmission cable are wound on the winch.

8. The underwater bionic detection and collection integrated robot according to claim 1, characterized in that: The hatch cover assembly consists of a hatch cover, a signal transmitter, a positioning device, and a dehooker; the signal transmitter is installed at the front end of the hatch cover; a circular groove is provided at the center of the top of the hatch cover, and the dehooker is installed in the circular groove; the positioner is installed on the top of the hatch cover and is located directly behind the dehooker; two front and rear outrigger arms are provided on both sides of the hatch cover.

9. The underwater bionic detection and collection integrated robot according to claim 1, characterized in that: The mother cabin auxiliary assembly includes a buoyancy mechanism and an opening and closing connection mechanism for connecting the cabin body and the cabin cover; The buoyancy mechanism is connected to the hatch cover and includes two buoyancy airbags and four connecting rods; the two buoyancy airbags are respectively arranged outside the left and right sides of the hatch cover, one end of the four connecting rods is respectively connected to the outer ends of the four outrigger arms of the hatch cover so as to be relatively rotatable, and a driving mechanism is arranged at the connection position, and the outer ends of the two connecting rods on the left side and the outer ends of the two connecting rods on the right side are respectively fixedly connected to the two buoyancy airbags; The camshaft is an angular movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement movement

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